Parallel gripper controller

[MarqRazz]

Description

This PR closes #3017 and adds the option to control grippers that use the ros2_control ParallelGripperCommand interface. I renamed all of the existing gripper controller files to include the name gripper_command and created new files for the parallel_gripper_command_controller.

To setup add the following to your moveit_controllers.yaml

right_arm_gripper_controller:
  type: ParallelGripperCommand
  joints:
     - right_arm_gripper_joint
  action_ns: gripper_cmd
  allow_stalling: true # optional if you want to pick grasp objects of unknown size and want the request to succeed when the gripper stalls while grasping the object
  max_effort: 1.0 # optional, max effort of the joint allowed while moving (Newtons or Newton-meters)
  max_velocity: 0.5 # optional, max velocity of the joint allowed while moving (radians or meters / second)
  default: true

When you start MoveIt you should see the following when adding the controllers

[move_group-4] [move_group.moveit.moveit.plugins.simple_controller_manager]: Added ParallelGripperCommand controller for right_arm_gripper_controller

[mikeferguson]

I'll take a closer look later today

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 9.47368% with 86 lines in your changes missing coverage. Please review.

Project coverage is 45.57%. Comparing base (e11cabb) to head (a4d278a).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ger/parallel_gripper_command_controller_handle.hpp	0.00%	56 Missing ⚠️
...r_manager/src/moveit_simple_controller_manager.cpp	32.00%	17 Missing ⚠️
...src/parallel_gripper_command_controller_plugin.cpp	0.00%	5 Missing ⚠️
...ller_manager/gripper_command_controller_handle.hpp	16.67%	5 Missing ⚠️
...nterface/src/gripper_command_controller_plugin.cpp	0.00%	3 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3246      +/-   ##
==========================================
- Coverage   45.65%   45.57%   -0.07%     
==========================================
  Files         714      716       +2     
  Lines       62299    62373      +74     
  Branches     7532     7541       +9     
==========================================
- Hits        28437    28422      -15     
- Misses      33694    33784      +90     
+ Partials      168      167       -1     

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[sea-bass]

Left some minor comments.

The major comment is a totally new thing that needs to happen here, which is ensuring that this type of controller is included in the MoveIt Setup Assistant.

There's probably a few places in the moveit_setup_assistant/moveit_setup_controllers package to edit -- for example, this and this

Looking at the code, it seems MSA never added the effort_controllers/GripperActionController either, but... eh, probably not needed since that's also deprecated in Jazzy.

[MarqRazz]

@sea-bass thanks for the detailed review, I appreciate the feedback!

I will try to get to the MSA stuff as soon as I can, but if you are okay to push this off to a different PR then I think this is good to go. I personally don't use the MSA because it makes messy configs.

[sea-bass]

You can do the MSA stuff after -- would definitely wait for @JafarAbdi and @mikeferguson to comment though, since they said they would.

[JafarAbdi]

Thanks!